#pragma once

#include <cv.h>

#include <vector>

typedef std::pair<int, CvPoint2D32f> IdPoint;
typedef std::vector<IdPoint> IdPoints;

/**
 * store a set of landmarks
 * each landmark is a 2D point
 *
 * given a robot pose, return observations
 */
class LandmarkMap {
public:
	LandmarkMap(void);
public:
	~LandmarkMap(void);

public:
	void addLandmark(int id, const CvPoint2D32f& p);

public:
	IdPoints landmarks; //a set of 2D points
};
